Dynamic control of a biped leg-wheeled robot moving over stairs by considering the continuity of dynamic trajectories

We have developed a biped leg-wheeled robot' which has ability to moving over stairs with short treads dynamically. In this paper, in order to realize the fast negotiation of stairs, we propose a new dynamic trajectory planning method which will make the staggering distance smaller and the landing stabler. We also propose a method to connect the dynamic trajectory control motion in statically unstable state with the structure changing motion in statically stable state continuously. As the result, we realize fast going up and down stairs by this robot (approximately 3 [s/step]) successfully and confirm the effectiveness of our newly-proposed methods.